Optics and Precision Engineering, Volume. 29, Issue 11, 2603(2021)

Kinematics model of articulated arm measuring machine

Lian-dong YU1...2, Jia-ming CAO1,2, Hui-ning ZHAO1,2,*, Hua-kun JIA1,2, and Song PU12 |Show fewer author(s)
Author Affiliations
  • 1School of Instrument Science and Opto-electronics Engineering, Hefei University of Technology, Hefei230009, China
  • 2Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, Hefei30009, China
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    Figures & Tables(12)
    Motion errors of rotation axis
    Measuring principle of rotation axis tilt error
    Linkage coordinate system of DH model
    Tilt error motion compensation method
    Kinematic modeling method with tilt error compensation of rotation axis
    Home-made length standard parts
    Measurement results and fitting curves of tilt error of part of rotating axes
    Distribution of home-made length standard parts
    Measurement errors of home-made length standard parts before and after calibration
    Comparison of measurement results of home-made length standard parts based on two different models
    • Table 1. Original data and fitting residuals of tilt error of rotation axes

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      Table 1. Original data and fitting residuals of tilt error of rotation axes

      倾斜误差

      峰峰值

      原始数据拟合残差
      x方向y方向x方向y方向
      旋转轴11.402.080.420.30
      旋转轴22.242.640.450.48
      旋转轴30.581.080.170.16
      旋转轴41.411.530.210.27
      旋转轴50.640.680.150.27
      旋转轴61.210.620.450.19
    • Table 2. The calibrated kinematic parameters

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      Table 2. The calibrated kinematic parameters

      Δθ/radα/radl/mmd/mm
      Zp=200.859 24
      A10.000 000*-1.570 27742.149 902300.000*
      A21.058 2491.571 029-40.763 420.441 069
      A30.434 047-1.570 43229.088 487449.520 59
      A42.079 4051.570 187-30.061 490.546 339
      A50.605 352-1.570 13928.855 103448.369 32
      A62.080 9481.570 796*28.855 103*-0.103 186
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    Lian-dong YU, Jia-ming CAO, Hui-ning ZHAO, Hua-kun JIA, Song PU. Kinematics model of articulated arm measuring machine[J]. Optics and Precision Engineering, 2021, 29(11): 2603

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    Paper Information

    Category: Micro/Nano Technology and Fine Mechanics

    Received: Mar. 25, 2021

    Accepted: --

    Published Online: Dec. 10, 2021

    The Author Email: ZHAO Hui-ning (hnzhao@mail.hfut.edu.cn)

    DOI:10.37188/OPE.20212911.2603

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